<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> <html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> <meta http-equiv="X-UA-Compatible" content="IE=9"/> <meta name="generator" content="Doxygen 1.8.5"/> <title>Eigen: RotationBase< Derived, _Dim > Class Template Reference</title> <link href="tabs.css" rel="stylesheet" type="text/css"/> <script type="text/javascript" src="jquery.js"></script> <script type="text/javascript" src="dynsections.js"></script> <link href="navtree.css" rel="stylesheet" type="text/css"/> <script type="text/javascript" src="resize.js"></script> <script type="text/javascript" src="navtree.js"></script> <script type="text/javascript"> $(document).ready(initResizable); $(window).load(resizeHeight); </script> <link href="search/search.css" rel="stylesheet" type="text/css"/> <script type="text/javascript" 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name="MSearchResults" id="MSearchResults"> </iframe> </div> <div class="header"> <div class="summary"> <a href="classEigen_1_1RotationBase-members.html">List of all members</a> | <a href="#pub-types">Public Types</a> | <a href="#pub-methods">Public Member Functions</a> | <a href="#friends">Friends</a> </div> <div class="headertitle"> <div class="title">RotationBase< Derived, _Dim > Class Template Reference</div> </div> </div><!--header--> <div class="contents"> <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2> <div class="textblock"><h3>template<typename Derived, int _Dim><br/> class Eigen::RotationBase< Derived, _Dim ></h3> <p>Common base class for compact rotation representations. </p> <dl class="params"><dt>Parameters</dt><dd> <table class="params"> <tr><td class="paramname">Derived</td><td>is the derived type, i.e., a rotation type </td></tr> <tr><td class="paramname">_Dim</td><td>the dimension of the space </td></tr> </table> </dd> </dl> </div><table class="memberdecls"> <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a> Public Types</h2></td></tr> <tr class="memitem:abb59a4f54aebad6325389d49d48de310"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a>< <a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>, Dim, Dim > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a></td></tr> <tr class="separator:abb59a4f54aebad6325389d49d48de310"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a844358c46408e878e60c4026c52eb1e9"><td class="memItemLeft" align="right" valign="top">typedef internal::traits<br class="typebreak"/> < Derived >::<a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a></td></tr> <tr class="separator:a844358c46408e878e60c4026c52eb1e9"><td class="memSeparator" colspan="2"> </td></tr> </table><table class="memberdecls"> <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a> Public Member Functions</h2></td></tr> <tr class="memitem:afe93e2d51ae82a198430ec02e1be98f9"><td class="memItemLeft" align="right" valign="top">Derived </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#afe93e2d51ae82a198430ec02e1be98f9">inverse</a> () const </td></tr> <tr class="separator:afe93e2d51ae82a198430ec02e1be98f9"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a137458fc1a96a26c9fd58d7b2b61336d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a137458fc1a96a26c9fd58d7b2b61336d">matrix</a> () const </td></tr> <tr class="separator:a137458fc1a96a26c9fd58d7b2b61336d"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a39e946f5ec63f80d28cf7988e6ba80b9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>, Dim, <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac6ccc3814bb6d2a8bf7f75d7131c6b17">Isometry</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a39e946f5ec63f80d28cf7988e6ba80b9">operator*</a> (const <a class="el" href="classEigen_1_1Translation.html">Translation</a>< <a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>, Dim > &t) const </td></tr> <tr class="separator:a39e946f5ec63f80d28cf7988e6ba80b9"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a84d2f46dbcd54e3a3b8ebcc673ad3920"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a84d2f46dbcd54e3a3b8ebcc673ad3920">operator*</a> (const UniformScaling< <a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a> > &s) const </td></tr> <tr class="separator:a84d2f46dbcd54e3a3b8ebcc673ad3920"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:acd4f0475d084e54c0dde2ef3f78822c0"><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr> <tr class="memitem:acd4f0475d084e54c0dde2ef3f78822c0"><td class="memTemplItemLeft" align="right" valign="top">internal::rotation_base_generic_product_selector<br class="typebreak"/> < Derived, OtherDerived, <br class="typebreak"/> OtherDerived::IsVectorAtCompileTime ><br class="typebreak"/> ::ReturnType </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#acd4f0475d084e54c0dde2ef3f78822c0">operator*</a> (const <a class="el" href="structEigen_1_1EigenBase.html">EigenBase</a>< OtherDerived > &e) const </td></tr> <tr class="separator:acd4f0475d084e54c0dde2ef3f78822c0"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a4905e372221a7ca6eaf7f11056bc1b7a"><td class="memTemplParams" colspan="2">template<int Mode, int Options> </td></tr> <tr class="memitem:a4905e372221a7ca6eaf7f11056bc1b7a"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>, Dim, Mode > </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a4905e372221a7ca6eaf7f11056bc1b7a">operator*</a> (const <a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>, Dim, Mode, Options > &t) const </td></tr> <tr class="separator:a4905e372221a7ca6eaf7f11056bc1b7a"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:aeb3f061eb5a0f7a4509f69a7f2b9d226"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#aeb3f061eb5a0f7a4509f69a7f2b9d226">toRotationMatrix</a> () const </td></tr> <tr class="separator:aeb3f061eb5a0f7a4509f69a7f2b9d226"><td class="memSeparator" colspan="2"> </td></tr> </table><table class="memberdecls"> <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a> Friends</h2></td></tr> <tr class="memitem:a38f506f2d3617685d1f684cdbc4f8dd4"><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr> <tr class="memitem:a38f506f2d3617685d1f684cdbc4f8dd4"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a38f506f2d3617685d1f684cdbc4f8dd4">operator*</a> (const <a class="el" href="structEigen_1_1EigenBase.html">EigenBase</a>< OtherDerived > &l, const Derived &r)</td></tr> <tr class="separator:a38f506f2d3617685d1f684cdbc4f8dd4"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:a615ece720e9826703b399dfaeaba1ae0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>, Dim, <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac0984f0c0fc7cdcea1c0bde170f9c925">Affine</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a615ece720e9826703b399dfaeaba1ae0">operator*</a> (const <a class="el" href="classEigen_1_1DiagonalMatrix.html">DiagonalMatrix</a>< <a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>, Dim > &l, const Derived &r)</td></tr> <tr class="separator:a615ece720e9826703b399dfaeaba1ae0"><td class="memSeparator" colspan="2"> </td></tr> </table> <h2 class="groupheader">Member Typedef Documentation</h2> <a class="anchor" id="abb59a4f54aebad6325389d49d48de310"></a> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a><<a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>,Dim,Dim> <a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a></td> </tr> </table> </div><div class="memdoc"> <p>corresponding linear transformation matrix type </p> </div> </div> <a class="anchor" id="a844358c46408e878e60c4026c52eb1e9"></a> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">typedef internal::traits<Derived>::<a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a> <a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a></td> </tr> </table> </div><div class="memdoc"> <p>the scalar type of the coefficients </p> </div> </div> <h2 class="groupheader">Member Function Documentation</h2> <a class="anchor" id="afe93e2d51ae82a198430ec02e1be98f9"></a> <div class="memitem"> <div class="memproto"> <table class="mlabels"> <tr> <td class="mlabels-left"> <table class="memname"> <tr> <td class="memname">Derived inverse </td> <td>(</td> <td class="paramname"></td><td>)</td> <td> const</td> </tr> </table> </td> <td class="mlabels-right"> <span class="mlabels"><span class="mlabel">inline</span></span> </td> </tr> </table> </div><div class="memdoc"> <dl class="section return"><dt>Returns</dt><dd>the inverse rotation </dd></dl> </div> </div> <a class="anchor" id="a137458fc1a96a26c9fd58d7b2b61336d"></a> <div class="memitem"> <div class="memproto"> <table class="mlabels"> <tr> <td class="mlabels-left"> <table class="memname"> <tr> <td class="memname"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> matrix </td> <td>(</td> <td class="paramname"></td><td>)</td> <td> const</td> </tr> </table> </td> <td class="mlabels-right"> <span class="mlabels"><span class="mlabel">inline</span></span> </td> </tr> </table> </div><div class="memdoc"> <dl class="section return"><dt>Returns</dt><dd>an equivalent rotation matrix This function is added to be conform with the <a class="el" href="classEigen_1_1Transform.html" title="Represents an homogeneous transformation in a N dimensional space. ">Transform</a> class' naming scheme. </dd></dl> </div> </div> <a class="anchor" id="a39e946f5ec63f80d28cf7988e6ba80b9"></a> <div class="memitem"> <div class="memproto"> <table class="mlabels"> <tr> <td class="mlabels-left"> <table class="memname"> <tr> <td class="memname"><a class="el" href="classEigen_1_1Transform.html">Transform</a><<a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>,Dim,<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac6ccc3814bb6d2a8bf7f75d7131c6b17">Isometry</a>> operator* </td> <td>(</td> <td class="paramtype">const <a class="el" href="classEigen_1_1Translation.html">Translation</a>< <a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>, Dim > & </td> <td class="paramname"><em>t</em></td><td>)</td> <td> const</td> </tr> </table> </td> <td class="mlabels-right"> <span class="mlabels"><span class="mlabel">inline</span></span> </td> </tr> </table> </div><div class="memdoc"> <dl class="section return"><dt>Returns</dt><dd>the concatenation of the rotation <code>*this</code> with a translation <em>t</em> </dd></dl> </div> </div> <a class="anchor" id="a84d2f46dbcd54e3a3b8ebcc673ad3920"></a> <div class="memitem"> <div class="memproto"> <table class="mlabels"> <tr> <td class="mlabels-left"> <table class="memname"> <tr> <td class="memname"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> operator* </td> <td>(</td> <td class="paramtype">const UniformScaling< <a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a> > & </td> <td class="paramname"><em>s</em></td><td>)</td> <td> const</td> </tr> </table> </td> <td class="mlabels-right"> <span class="mlabels"><span class="mlabel">inline</span></span> </td> </tr> </table> </div><div class="memdoc"> <dl class="section return"><dt>Returns</dt><dd>the concatenation of the rotation <code>*this</code> with a uniform scaling <em>s</em> </dd></dl> </div> </div> <a class="anchor" id="acd4f0475d084e54c0dde2ef3f78822c0"></a> <div class="memitem"> <div class="memproto"> <table class="mlabels"> <tr> <td class="mlabels-left"> <table class="memname"> <tr> <td class="memname">internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType operator* </td> <td>(</td> <td class="paramtype">const <a class="el" href="structEigen_1_1EigenBase.html">EigenBase</a>< OtherDerived > & </td> <td class="paramname"><em>e</em></td><td>)</td> <td> const</td> </tr> </table> </td> <td class="mlabels-right"> <span class="mlabels"><span class="mlabel">inline</span></span> </td> </tr> </table> </div><div class="memdoc"> <dl class="section return"><dt>Returns</dt><dd>the concatenation of the rotation <code>*this</code> with a generic expression <em>e</em> <em>e</em> can be:<ul> <li>a DimxDim linear transformation matrix</li> <li>a DimxDim diagonal matrix (axis aligned scaling)</li> <li>a vector of size Dim </li> </ul> </dd></dl> </div> </div> <a class="anchor" id="a4905e372221a7ca6eaf7f11056bc1b7a"></a> <div class="memitem"> <div class="memproto"> <table class="mlabels"> <tr> <td class="mlabels-left"> <table class="memname"> <tr> <td class="memname"><a class="el" href="classEigen_1_1Transform.html">Transform</a><<a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>,Dim,Mode> operator* </td> <td>(</td> <td class="paramtype">const <a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>, Dim, Mode, Options > & </td> <td class="paramname"><em>t</em></td><td>)</td> <td> const</td> </tr> </table> </td> <td class="mlabels-right"> <span class="mlabels"><span class="mlabel">inline</span></span> </td> </tr> </table> </div><div class="memdoc"> <dl class="section return"><dt>Returns</dt><dd>the concatenation of the rotation <code>*this</code> with a transformation <em>t</em> </dd></dl> </div> </div> <a class="anchor" id="aeb3f061eb5a0f7a4509f69a7f2b9d226"></a> <div class="memitem"> <div class="memproto"> <table class="mlabels"> <tr> <td class="mlabels-left"> <table class="memname"> <tr> <td class="memname"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> toRotationMatrix </td> <td>(</td> <td class="paramtype">void </td> <td class="paramname"></td><td>)</td> <td> const</td> </tr> </table> </td> <td class="mlabels-right"> <span class="mlabels"><span class="mlabel">inline</span></span> </td> </tr> </table> </div><div class="memdoc"> <dl class="section return"><dt>Returns</dt><dd>an equivalent rotation matrix </dd></dl> <p>Referenced by <a class="el" href="classEigen_1_1RotationBase.html#a84d2f46dbcd54e3a3b8ebcc673ad3920">RotationBase< Derived, 3 >::operator*()</a>.</p> </div> </div> <h2 class="groupheader">Friends And Related Function Documentation</h2> <a class="anchor" id="a38f506f2d3617685d1f684cdbc4f8dd4"></a> <div class="memitem"> <div class="memproto"> <table class="mlabels"> <tr> <td class="mlabels-left"> <table class="memname"> <tr> <td class="memname"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> operator* </td> <td>(</td> <td class="paramtype">const <a class="el" href="structEigen_1_1EigenBase.html">EigenBase</a>< OtherDerived > & </td> <td class="paramname"><em>l</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">const Derived & </td> <td class="paramname"><em>r</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td> </tr> </table> </td> <td class="mlabels-right"> <span class="mlabels"><span class="mlabel">friend</span></span> </td> </tr> </table> </div><div class="memdoc"> <dl class="section return"><dt>Returns</dt><dd>the concatenation of a linear transformation <em>l</em> with the rotation <em>r</em> </dd></dl> </div> </div> <a class="anchor" id="a615ece720e9826703b399dfaeaba1ae0"></a> <div class="memitem"> <div class="memproto"> <table class="mlabels"> <tr> <td class="mlabels-left"> <table class="memname"> <tr> <td class="memname"><a class="el" href="classEigen_1_1Transform.html">Transform</a><<a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>,Dim,<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac0984f0c0fc7cdcea1c0bde170f9c925">Affine</a>> operator* </td> <td>(</td> <td class="paramtype">const <a class="el" href="classEigen_1_1DiagonalMatrix.html">DiagonalMatrix</a>< <a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>, Dim > & </td> <td class="paramname"><em>l</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">const Derived & </td> <td class="paramname"><em>r</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td> </tr> </table> </td> <td class="mlabels-right"> <span class="mlabels"><span class="mlabel">friend</span></span> </td> </tr> </table> </div><div class="memdoc"> <dl class="section return"><dt>Returns</dt><dd>the concatenation of a scaling <em>l</em> with the rotation <em>r</em> </dd></dl> </div> </div> <hr/>The documentation for this class was generated from the following files:<ul> <li><a class="el" href="ForwardDeclarations_8h_source.html">ForwardDeclarations.h</a></li> <li><a class="el" href="RotationBase_8h_source.html">RotationBase.h</a></li> </ul> </div><!-- contents --> </div><!-- doc-content --> <!-- start footer part --> <div id="nav-path" class="navpath"><!-- id is needed for treeview function! --> <ul> <li class="navelem"><a class="el" href="namespaceEigen.html">Eigen</a></li><li class="navelem"><a class="el" href="classEigen_1_1RotationBase.html">RotationBase</a></li> <li class="footer">Generated on Mon Oct 28 2013 11:04:30 for 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